Industrial robot calibration method considering parameter coupling

Abstract

The invention discloses an industrial robot calibration method considering parameter coupling. A parameter identification model established by the calibration method considers the coupling relation among kinematic parameters, is suitable for calibration of an industrial robot with coupling joints, considers the compensability of the parameters in a robot controller, facilitates compensation of parameter errors, and facilitates engineering application of the calibration method. According to the calibration method, measurement equipment independent of the industrial robot is adopted, a method for approximately solving a pose matrix of a basic coordinate system of the robot relative to a coordinate system of a measurement system is provided, and the calibration method is easy to operate; andthe calibration method can consider the coupling relation among to-be-identified parameters, and is suitable for a robot with the coupling joints, simple in operation steps, convenient in parameter error compensation, and suitable for engineering application.

Description

technical field [0001] The invention relates to an industrial robot calibration method. In particular, it relates to a calibration method for industrial robots considering parameter coupling. Background technique [0002] Repeated positioning accuracy and absolute positioning accuracy are the most important performance indicators of industrial robots. Especially with the continuous expansion of application fields and the popularization and application of off-line programming technology, higher requirements are put forward for the absolute positioning accuracy of industrial robots. The current industrial robots have relatively high repetitive positioning accuracy, but the absolute positioning accuracy is very low, and each robot has a large difference. The research shows that when the robot has a high repeat positioning accuracy, the calibration technology can effectively improve the absolute positioning accuracy of the robot. Calibration technology has become a research ho...

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Problems solved by technology

The parameter identification model established by the existing calibration method is mainly aimed at general serial industrial robots, without considering the coupling relationship between geometric parameters, and is not suitable for the calibration of robots with coupled joints; at the same time, the model does not consider whether the parameters can be directly used in the controller. Modify compensation, the compensation of geometric parameter error needs to modify the control model of the robot, which is not conducive to the engineering application of the calibration method; finally, the data measurement generally needs to use external measuring instruments such as laser tracker, three-coordinate measuring machine, ballbar, etc. The measurement or calculation of the coordinate system relative to the coordinate system of the coordinate system usually requires additional measurement of the first and second joint axes of the robot, and the calibration method is relatively complicated

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